Kinco JD Series User Manual
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Kinco JD Series User Manual

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Chapter 1 Product Acceptance & Model Description . ............................................................................... 5
1.1 Product Acceptance ......................................................................................................................... 5
1.1.1 Items for Acceptance (Wires Included) . .................................................................................... 5
1.1.2 Nameplate of Servo Driver ........................................................................................................ 5
1.1.3 Nameplate of Servo Motor ........................................................................................................ 6
1.2 Component Names .......................................................................................................................... 7
1.2.1 Component Names of JD Series Servo Driver . ........................................................................ 7
1.2.2 Component Names of Servo Motor . ......................................................................................... 8
1.3 Model Description of Servo Motors and Drivers . ............................................................................. 8
1.3.1 Servo Drivers............................................................................................................................. 8
1.3.2 Servo Motors ............................................................................................................................. 8
1.3.3 Power,Brake and Encoder cable of Motors . ............................................................................. 9
Chapter 2 Precautions and Installation Requirements . ........................................................................... 10
2.1 Precautions . ................................................................................................................................... 10
2.2 Environmental Conditions .............................................................................................................. 10
2.3 Mounting Direction & Spacing ........................................................................................................ 10
Chapter 3 Interfaces and Wirings of JD Driver . ...................................................................................... 12
3.1 Interfaces of JD Driver ................................................................................................................... 12
3.2 External Wirings of JD Driver ......................................................................................................... 13
3.3 I/O Interface of JD Driver ............................................................................................................... 14
3.4 X9 Interface(STO) of JD Servo ...................................................................................................... 15
3.4.1 Overview . ................................................................................................................................ 15
3.4.2 Interface Descriptions ........................................................................................................... 15
3.4.3 STO Function Descriptions ................................................................................................... 15
3.5 X1～X6 Interface of JD Driver ........................................................................................................ 16
3.5.1 X1 Interface（Encoder out） ................................................................................................ 17
3.5.2 X2 Interface（RS485） ........................................................................................................ 17
3.5.3 X3 Interface（RS232） ........................................................................................................ 17
3.5.4 X4 Interface (CAN) ............................................................................................................... 18
3.5.5 X5 Interface (Master Encoder) . ............................................................................................ 18
3.5.6 X6 Interface (Encoder in) ...................................................................................................... 19
Chapter 4 Digital Operation Panel ........................................................................................................... 20
4.1 Introduction . ................................................................................................................................... 20
4.2 Operation on Digital Operation Panel . .......................................................................................... 22
Chapter 5 JD-PC Software Introductions ................................................................................................. 24
5.1 Software Installation ....................................................................................................................... 24
5.2 Quick Start . .................................................................................................................................... 24
5.2.1 Hardware Configuration for Running JD-PC . ......................................................................... 24
5.2.2 JD-PC Software Online ........................................................................................................... 24
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Kinco JD Series Servo User Manual

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  • Page 1: Table Of Contents

    1.1.3 Nameplate of Servo Motor ......................6 1.2 Component Names .......................... 7 1.2.1 Component Names of JD Series Servo Driver ................. 7 1.2.2 Component Names of Servo Motor ..................8 1.3 Model Description of Servo Motors and Drivers ................8 1.3.1 Servo Drivers..........................
  • Page 2 Kinco JD Series Servo User Manual 5.3 Menu Introductions ........................27 5.4 Driver Control ..........................28 5.4.1 Basic Operate ......................... 28 5.4.2 Control Loop ........................29 5.4.3 I/O Port ........................... 30 5.4.4 Operation Mode ........................32 5.4.5 Data Object ..........................33 5.4.6 Driver Config ..........................
  • Page 3 Kinco JD Series Servo User Manual Chapter 8 Operation Mode ........................74 8.1 Position mode（Mode 1） ......................74 8.2 Speed Mode（Mode -3 or 3） ...................... 74 8.3 Master-slave mode（Mode -4） ....................75 8.4 Torque Mode（Mode 4） ......................75 8.5 Homing mode（Mode 6） ......................76 8.6 Driver Status Display ........................
  • Page 4 Kinco JD Series Servo User Manual Appendix 1:Example for CANopen Communication ................. 108 Appendix 2:Example for RS485 Communication ................117 Appendix 3:Example for RS232 Communication ................122 Appendix 4：Master-Slave Example ....................124 Appendix 5:Homing method ......................129 Appendix 6：Use JD-PC software to import and export driver parameters........134 Appendix 6：Conversion between engineering unit and internal unit of common objects.

  • Page 5: Chapter 1 Product Acceptance & Model Description

    Kinco JD Series Servo User Manual Chapter 1 Product Acceptance & Model Description 1.1 Product Acceptance 1.1.1 Items for Acceptance (Wires Included) Table 1-1 Product acceptance Item for Acceptance Remark Whether the model of a delivered CD series Check the nameplate of a servo motor and...

  • Page 6: Nameplate Of Servo Motor

    Kinco JD Series Servo User Manual 1.1.3 Nameplate of Servo Motor Fig. 1-2 Nameplate of a servo motor...

  • Page 7: Component Names

    Kinco JD Series Servo User Manual 1.2 Component Names 1.2.1 Component Names of JD Series Servo Driver Fig. 1-3 Component Names of JD Series Servo Driver...

  • Page 8: Component Names Of Servo Motor

    Kinco JD Series Servo User Manual 1.2.2 Component Names of Servo Motor Fig. 1-4 Component names of a servo motor (brakes excluded) 1.3 Model Description of Servo Motors and Drivers 1.3.1 Servo Drivers 1.3.2 Servo Motors...

  • Page 9: Power,Brake And Encoder Cable Of Motors

    Kinco JD Series Servo User Manual 1.3.3 Power,Brake and Encoder cable of Motors...

  • Page 10: Chapter 2 Precautions And Installation Requirements

    Kinco JD Series Servo User Manual Chapter 2 Precautions and Installation Requirements 2.1 Precautions 1.Tightly fasten the screws that fix the motor; 2.Make sure to tightly fasten all fixed points when fixing the driver; 3.Do not tighten the cables between the driver and the motor/encoder;...
  • Page 11 Kinco JD Series Servo User Manual Fig. 2-1 Installing a servo driver...

  • Page 12: Chapter 3 Interfaces And Wirings Of Jd Driver

    Kinco JD Series Servo User Manual Chapter 3 Interfaces and Wirings of JD Driver 3.1 Interfaces of JD Driver Table 3-1 Interfaces of a JD driver Applicable Interface Symbol Function Driver JD430,JD620 ENCODER OUT Encouder output interface JD430,JD620 RS485 RS485 interface...

  • Page 13: External Wirings Of Jd Driver

    Kinco JD Series Servo User Manual interface 3 Maximum voltage：24V Digital output Maximum output current：500mA, OUT4 interface 4 Maximum voltage：24V Digital output Maximum output current：500mA, OUT5 interface 5 Maximum voltage：24V 24VO Power input of digital output signals COMO Common terminal of digital output signals...

  • Page 14: I/O Interface Of Jd Driver

    Kinco JD Series Servo User Manual 3.3 I/O Interface of JD Driver Fig. 3-2 I/O interface of JD driver Fig. 3-3 Wirings of the I/O interface of JD driver...

  • Page 15: X9 Interface(Sto) Of Jd Servo

    JD series servo provide two channels of STO input signal control.The driver will cut off the motor’s current and motor output torque when one of the STO signals is valid.

  • Page 16: X1～X6 Interface Of Jd Driver

    Kinco JD Series Servo User Manual In order to realize the safty function of driver,STO interface can be used to connect to safty controllers,safty switches,safty sensors and so on. Fig.3-5 Connection diagram between STO interface and safty controller 3.5 X1～X6 Interface of JD Driver X1～X6 interface of JD driver use D-SUB connector.The styles of different D-SUB connectors are...

  • Page 17: X1 Interface（Encoder Out

    Kinco JD Series Servo User Manual 3.5.1 X1 Interface（Encoder out） Name Signal Descriptions Function Power Open collector output signal of encoder Signal ground Encoder out To output A phase Encodder （9-Pin female） signal of encoder output To output B phase...

  • Page 18: X4 Interface (Can)

    Kinco JD Series Servo User Manual 3.5.4 X4 Interface (CAN) Name Signal Descriptions Function CAN_L CAN_L CAN_H CAN_H （9-Pin male） interface Signal ground 3.5.5 X5 Interface (Master Encoder) Name Signal Descriptions Function Pul+/A1+/CW+ Pulse,A1 signal of encoder input. Support orthogonal pulse Pul-/A1-/CW- signal input 输入...

  • Page 19: X6 Interface (Encoder In)

    Kinco JD Series Servo User Manual 3.5.6 X6 Interface (Encoder in) Name Signal Descriptions Function 5V output PTC_IN PTC of motor input A phase of encoder input B phase of encoder Encoder in （ input Double Motor rows encoder Z phase of encoder...

  • Page 20: Chapter 4 Digital Operation Panel

    Kinco JD Series Servo User Manual Chapter 4 Digital Operation Panel 4.1 Introduction A digital operation panel functions to set user parameters in a servo driver, execute instructions, or display parameters. Table 4-1 describes all display contents and functions of the digital operation panel.
  • Page 21 Kinco JD Series Servo User Manual Pn.L Activates position positive/negative limit signals. Overall Indicates that an error occurs on the driver, and is in the alarm state. Flicking If the parameter adjusting display mode is featured by the decimal system: When the units place is flickering, press ▲...

  • Page 22: Operation On Digital Operation Panel

    Kinco JD Series Servo User Manual 4.2 Operation on Digital Operation Panel Power ON Press MODE Switching of basic menus Parameter display (current speed is displayed by default) Press Press Set driver instructions Press Press Set real-time display of data...
  • Page 23 Kinco JD Series Servo User Manual Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system switching Press MODE. The main menu is displayed. Choose F003. Press ENTER. The interface for selecting addresses is displayed. Press ▲ to adjust data as d3.35.

  • Page 24: Chapter 5 Jd-Pc Software Introductions

    5.2 Quick Start 5.2.1 Hardware Configuration for Running JD-PC JD-PC software can be used to configure all the parameters of JD Series servo driver via RS232 or CANopen port.Please refer to Chapter 3 to connect servo driver and motor before using ●...
  • Page 25 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.New Project. 3.It will popup dialog box “Commutation Way”,if it uses serial port,then select “RS232C”and click “Next”. If it uses CAN tools such as PEAK-CAN,then select “CAN” and click “Next”.
  • Page 26 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 4．Enter communication property interface.Set the parameters like COM,Baudrate,Driver ID corresponding to 。 the actual value in servo driver.Then click Comm Status button If it uses CAN connection,set the parameters like Baudrate,Driver ID.Then click Comm Status button 5.Check the informations in the lower-right side.If the informations are like “Comm Status:Open COM1...

  • Page 27: Menu Introductions

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 When it uses CAN connection,if the informations in the lower-right side are like “Comm Status:Open 500K Bit/S” and the Comm Status turns green,it means JD-PC software is online successfully. 5.3 Menu Introductions...

  • Page 28: Driver Control

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 The descriptions of Menu bar are as following table. Name Descriptions File Used to New,Open,Save project. Computer Used to set communication property. Driver Used to control driver,more details please refer to 5.4 Motor Used to configure motor parameters,more detail please refer to 6.1.3...

  • Page 29: Control Loop

    In this menu,it is used to adjust parameters for driver’s control performance.More details please refer to chapter 9. Please be careful for parameters setting in Current Loop!If users use JD servo driver together with the servo motors provided by Kinco Company,then it needn’t set the parameters in Current Loop.

  • Page 30: I/O Port

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.3 I/O Port In this menu,it is used to set the functions and polarity of I/O ports,monitor the status of I/O ports and simulate the I/O ports. Example 5-2：Use JD-PC software to set the functions of I/O port Requirement:Cancel the functions of DIN1,DIN3 and DIN5.Set DIN2 as default reset,DIN4 as emergency...
  • Page 31 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Step 2:Set all the functions of other I/O ports with the similar operations as step 1.Then select Driver -> Initialize/Save and click “Save control parameters”.The final settings of I/O ports are as following figure:...

  • Page 32: Operation Mode

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.4 Operation Mode In this menu,it is used to set and monitor the objects in each operation mode.More details please refer to chapter 9.Following figure is the menu for pulse mode.

  • Page 33: Data Object

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.5 Data Object In this menu,it can be used to query the address and descriptions of all the objects in JD driver.As shown in above picture,there are Index,Subindex address and the name of the objects on the left side.On the right side,there are the descriptions of the object.

  • Page 34: Driver Config

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Step 3:Double click the object to add this object into “Basic operate” menu. Step 4:If you need to delete the object in the menu.Right click the object and select “del”to delete the object.If you need to know more details of the object,then right click the object and select “help”...

  • Page 35: Ecan Setting（Canopen Pdo Setting

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Example 5-4：Use JD-PC to set an User Password Step 1:Set the number “1234”as password in the object “User_Secret” as shown in the red box in the figure above. Step 2:Click “Save all control parameters” in Driver->Initialize/Save to save parameters,then Click “Reboot driver”.

  • Page 36: Oscilloscope

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.8 Oscilloscope Oscilloscope can help you adjust servo’s parameters better by observing the curve of speed,position and so There are two ways to open oscilloscope as following figures. Fig.1.Oscilloscope shotcut in toolbar...
  • Page 37 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.2.Menu bar---Driver--Oscilloscope...
  • Page 38 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Follows are the parameters instructions in Oscilloscope.
  • Page 39 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册...
  • Page 40 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册...

  • Page 41: Error Control

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.9 Error Control This menu is used to monitor the current error information.As shown in following figure,The Hex data is the same error code as shown in LED display on servo driver.The small box is used to choose whether to shield error or not.There is error when the lamp is red.The text is the...

  • Page 42: Error History

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.10 Error History JD servo driver provides 7 groups of historical error informations.Users can query the informations such as error code,voltage,current,temperature,speed,operation mode,driver accumulated working time and so on. 5.4.11 Control Panel This menu is used to set and query all the parameters which are corresponding to the parameters from Group F000 to F007 in servo driver.

  • Page 43: Driver Property

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.4.13 Driver Property This menu is used to display the informations such as driver model,software version,serial number and so on.

  • Page 44: Chapter 6 Motor Selection,Trial Operation And Parameter List

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 6 Motor Selection,Trial Operation and Parameter List 6.1 Driver and motor configuration There is no default motor type set in driver,so users need to set the motor model before using the driver.Please refer to the selection table in 6.1.1 when setting the motor model.

  • Page 45: Procedure For Motor Configuration

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 314.5 SME60S-0040-30A■K-3LK□ 324.5 SME80S-0075-30A■K-3LK□ √ 305.3 130D-0105-20AAK-2LS √ 315.3 130D-0157-20AAK-2LS √ 325.3 130D-0157-15AAK-2LS √ 335.3 130D-0200-20AAK-2HS √ 345.3 130D-0235-15AAK-2HS 85S-0045-05AAK-FLFN 384.6 85S-0045-05AAK-FLFO-KT Note： ■=A: No brake □= H：Direct cable connector √：Recommended...
  • Page 46 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Please configure the right motor’s model before restart. If customers want to reset the motor model, they should set D4.19 to 303.0 (Press ENTER to confirm) and then d4.00 to 1(Save motor parameters), after restart the servo they can reset motor model and servo parameters according to the above chart 2.CD-PC software operation...

  • Page 47: Trial Operation

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 6.2 Trial Operation 6.2.1 Objective The trial operation allows you to test whether the driver works properly, and whether the motor runs stably. 6.2.2 Precautions Ensure the motor type is set correctly.

  • Page 48: Diagram Of Trial Operation

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 6.2.4 Diagram of Trial Operation Fig.6-1 Trial operation 6.3 Descriptions of Parameters Group F000 represents an instruction group, and the parameters in this group cannot be saved. The address d4.00 is used to save the motor parameters set for Group F004. Note that this group of parameters must be set when customers choose third-party motors, but these parameters need not to be set for the motors delivered and configured by our company.

  • Page 49: Parameter List: Group F001 (To Set Real-Time Display Data)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 mode where no external signals control the driver. Control_Word_ 000.0: Releases the motor Easy 000.1: Locks the motor 001.0: Clears errors Note: Only applied in the situation 2FF0050 d0.01 where enabling a driver or wrong resetting is not controlled by external signals.
  • Page 50 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Displayed Content Display Address The formula of conversion between display value and actual current(Average value): Motor_IIt_Real*512  peak 2047 is the max. peak value of the output current peak of driver.

  • Page 51: Parameter List: Group F002 (To Set Control Loop Parameters)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Displayed Content Display Address Internal sampling time: 1 mS d1.28 60F60C10 CMD_q_Buff Internal effective current instruction Actual current The formula of conversion between display value andactual current: ...
  • Page 52 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Meaning Default Range Display Address Name Value 100% feedforward K_Acc_F The data is inversely proportional to the 32767 60FB031 d2.09 7FF.F ～10 feedforward Profile_A To set trapezoidal acceleration (rps/s) in the 2FF0061 0～...

  • Page 53: Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) Numeric Internal Variable Name Meaning Default Range Display Address Value Store_Loop_Dat 1: Stores all setup parameters 2FF0010 except motors d3.00...
  • Page 54 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Meaning Default Range Display Address Value Dout3_Function 004.0: Index 008.0: maximum speed d3.13 20101110 00a.4 obtained in the torque mode 010.0: PWM ON Dout4_Function 020.0:Position limiting 2010121 040.0:Reference found...
  • Page 55 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Meaning Default Range Display Address Value Analog_Torque_ Chooses analog-torque channels 0: Invalid analog channel 2502080 d3.30 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2)

  • Page 56: Parameter List: Group F004 (To Set Motor Parameters)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Meaning Default Range Display Address Value Din_Pos5 Din_Pos6 Din_Pos7 2FF1021 d3.41 Din_Position_M Refer to d3.42 The position of internal position set in Din_Position_Select_L 2FF1031 d3.42 Din_Position_N Din_Pos =...
  • Page 57 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Numeric Internal Variable Name Meaning display Address 000.1: ABZ of TTL and differential UVW signals 000.0: ABZ of TTL and UVW signals of TTl Motor_Poles Number of motor poles pairs d4.03...

  • Page 58: Parameter List: Group F005 (To Set Driver Parameters)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Parameter List: Group F005 (To Set Driver Parameters) Numeric Internal Variable Name Meaning Default Display Address Value Store_Loop_Data 1: Stores all control parameters except motor parameters d5.00 2FF00108 10: Initializes all control parameters...
  • Page 59 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Set the baudrate of RS485 port 1080 9600 19200 38400 d5.16 2FE20010 RS485_Bandrate 115200 Note: To change this parameter, you need to save it with the address “d5.00”, and restarts it later.
  • Page 60 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册...

  • Page 61: Chapter 7 Operation On Input/Output Ports

    Chapter 7 Operation on Input/Output Ports KINCO JD servo driver has 8 digital input ports and 7 digital output ports (the OUT1,OUT2,OUT7 ports can drive 100 mA, and OUT3-OUT6 port can drive 500 mA load,and can directly drive the brake device). You can freely configure all functions on digital input/output ports according to application requirements.

  • Page 62: Simulation Of Digital Input Signals

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 ① ② ③ ④ Input/output port Channel selection Reserv 0: DIN1 is enabled selection Set to 1 (DIN 1 when S1 opens Set to 1 (input port selected) 1: DIN1 is enabled...

  • Page 63: Status Display Of Digital Input Signals

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 output signals for outputting Dio_Simulate (IO simulation) is for the software to simulate inputting of a valid signal. “1” indicates that the input signal is valid, and “0” indicates that the input signal is invalid.
  • Page 64 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 004.0: Homing signal 000.4 （ Operation mode 008.0: Reverse speed demand d3.03 Din3_Function 010.0: Internal speed control 0 control） 020.0: Internal speed control 1 800.1:Internal speed control 2 000.8 （ Operation 040.0: Internal position control...
  • Page 65 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Function Meaning control 2 Internal position To control internal multiple positions. control 0 Note: For details, see Section 7.4 Internal Multi-Position Control in CD Servo manual. Internal position control 1 Internal...
  • Page 66 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.7-2 Set digital I/O function in PC software Example 7-4: Disabling Position Positive/Negative Limit Settings When the driver is delivered, the DIN5 of the motor is the position positive limit and DIN6 is the position negative limit by default.

  • Page 67: Wirings Of Digital Input Port

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 is “-4” (pulse control mode) when DIN3 fails, and is “-3” (instantaneous speed mode) when DIN3 is valid. Table 7-13 describes the setup method. Table 7-13 Settings on operation mode control on drivers...

  • Page 68: Digital Output

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.7-5 PNP wiring diagram (to the controller that supports high level output) 7.2 Digital Output 7.2.1 Polarity Control on Digital Output Signals Note:All the digital output are normally open by default.

  • Page 69: Simulation Of Digital Output Signals（More Details Please Refer To 7.1.2

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Input/output port Channel selection Reserv 0: OUT1 is normally selection (OUT1 close Set to 0 (Output port selected) 1: OUT1 is normally selected) open. Namely, if d3.08 is set to “010.0”, it indicates that OUT1 is normally close.If d3.08 is set to “010.1”, it indicates that OUT1 is normally open.

  • Page 70: Wiring Of Digital Output Port

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 d3.49 Dout6_Function 001.0（Motor brake） d3.50 Dout7_Function 000.2（Error） Table 7-19 Meanings of the functions defined by digital output signals Function Meaning Disable Cancel the function of this digital output Ready The driver is ready for operation.
  • Page 71 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.7-6 Internal circuit diagram of digital output Note:1.OUT3,OUT4 and OUT5 use the same common terminal(COMO). 2.It must connect external power supply to terminals 24VO and COMO when using OUT6. 2.NPN Wiring Diagram（OUT1-OUT7 all support this）...
  • Page 72 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.7-7 NPN wiring diagram (to controllers that support valid low level input) 3. PNP wiring diagram (Only OUT1,OUT2 and OUT7 support this wiring) Fig.7-8 PNP wiring diagram (to controllers that support valid low level input)）...
  • Page 73 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.7-9 To connect a relay to the digital output port...

  • Page 74: Chapter 8 Operation Mode

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 8 Operation Mode 8.1 Position mode（Mode 1） Take this mode for example: In the coordinate system shown below, the red arrow indicates the current position = 450. If it is defined as absolute motion, when the target position is set to 700, the motor will move to the position of coordinate = 700;...

  • Page 75: Master-Slave Mode（Mode -4

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 In mode -3, when a new value is assigned to the target velocity, the motor will run at the new velocity immediately, without a definable acceleration/deceleration as described in mode 3.

  • Page 76: Homing Mode（Mode 6

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 catalog. is peak current. demand In mode 4, the following objects have to be defined: CANopen Modbus Value Meaning Address Address 60600008 0x3500 Set as torque mode 60710010 0x3C00 User setting...

  • Page 77: Driver Status Display

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 8.6 Driver Status Display JD servo driver uses object 60410010(Modbus address is 0x3200) to indicate the current status of driver.The definitions of every bit are as following: Definition Meaning Value Ready to Switch on Ready to switch on 60410010＝0x0001...

  • Page 78: Chapter 9 Control Performance

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 9 Control Performance 9.1 Auto Reverse In this mode,motor will run forward and reverse continuously according to the setting mode.User can set parameters in velocity loop and position loop in this mode.Please make sure auto forward/reverse is allowed in the machine before using this mode and make sure the power of driver can be cut off anytime to advoid accident.

  • Page 79: Driver Performance Tuning

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 9.2 Driver Performance Tuning Fig. 9-1 Schematic diagram for control loop adjustment As shown in Fig. 9-1, a typical servo system contains three control loops, namely, position loop, velocity loop, and current loop.
  • Page 80 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 For example, to set the filter bandwidth to "F = 500 Hz”, you need to set the parameter to 20. Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive bandwidth of the velocity loop also increases.
  • Page 81 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Left 3 Right 3 Left 4 Right 4 Fig.9-2 Schematic diagram of gain adjustment of velocity loop Step 2: Adjust parameters for feedback filter of velocity loop During gain adjustment of a velocity loop, if the motor noise is too great, you can properly reduce the parameter Speed_Fb_N for feedback filter of the velocity loop;...

  • Page 82: Auto Adjustment (Only For Velocity Loops)

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW, Pc_Loop_BW indicates the bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity loop.
  • Page 83 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.9-3 Speed curve K_Load represents the internal data that displays the actual inertia of the system. Encoder R  K Load  62500* 2 * In the above formula: Ip represents the maximum peak output current in units of “A”;...

  • Page 84: Oscillation Inhibition

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 properly according to actual conditions of machines. If the data is too small, the auto tuning error becomes greater, or even causes a mistake d2.22 Tuning_Scale It is helpful to reduce the auto tuning time by...

  • Page 85: Debugging Example

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 target current with the oscilloscope function of the driver. Table 8-5 Parameters for oscillation inhibition Numeric Variable Name Meaning Default Rang Display Value d2.03 Notch_N Notch/filtering frequency setting for a velocity...
  • Page 86 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.Parameters for Oscilloscope...

  • Page 87: Procedure For Parameter Adjustment

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 9.4.2 Procedure for Parameter Adjustment 1、Velocity Loop Adjustment (1) Adjust Kvp according to the load. ① Set motor running at Auto Reverse mode by position(Operation mode -3),then open oscilloscope and set the parameters to observe the curve.As shown in following figures.
  • Page 88 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 In Auto Reverse mode,Kvp=110 The oscilloscope is shown as follows:actual speed response is 10.00ms...
  • Page 89 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.Position Loop Adjustment (1) Adjust Kpp. (2)Adjust Vff（K_Velocity_FF） Adjust Vff parameter according to the allowable position error and coupling performance of machine. Normally Vff is 100%.If system doesn’t need high response for position,then this parameter can be decreased to reduce overshoot.
  • Page 90 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Internal position mode,target position is 50000 inc. Fig.(1) Kpp=10,Vff=100% The oscilloscope is as following: max. following error is 69 inc.
  • Page 91 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Fig.(2) Kpp=30,Vff=100% The oscilloscope is as following:max. following error is 53 inc. Fig.(3) Kpp=30,Vff=50%...
  • Page 92 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 The oscilloscope is as following:max. following error is 230 inc.

  • Page 93: Chapter 10 Communication

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 10 Communication JD Servo supports powerful communication capabilities and adopts the control mode based on an object dictionary. All controls come down to the configuration of internal objects. The configuration can be implemented by multiple methods including RS232, RS485 and CANopen.

  • Page 94: Transport Protocol

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 motor parameters 10 ： Initialzie all control parameters except motor parameters Station No. of Drivers Note: To change this parameter, you d5.01 100B0008 ID_Com need to save it with the address “d5.00”, and restart it later.

  • Page 95: Data Protocol

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 10.1.3.1 Data Protocol A data protocol is different from a transport protocol. It contains 8 bytes of all 10 bytes of the above RS-232. Definition of CD servo driver internal data complies with the CANopen international standard. All parameters, values and functions are expressed by index and subindex.

  • Page 96: Rs232 Communication Address Of Servo Parameters

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 master will generate an error if a non-existent target address is uploaded. The host sends: Specifies the direction of data transfer 40(0x16) INDEX 16-bit value SUBINDEX 8-bit subindex RESERVED Bytes 4…7 not used...

  • Page 97: Rs485 Communication Interface

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 10.2.1 RS485 Communication Interface The X2 interface of JD servo driver supports RS485 and RS422 communication.The wiring diagram is shown in following figure. 10.2.2 RS485 Communication Parameters Name Meaning Default Value Display Station No.
  • Page 98 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Low byte High byte of High Byte Byte Function Address Station No. Start Start Address Code Length check Address Address Length (Word) (Word) 1 Byte 1 Byte 1 Byte 1 Byte...

  • Page 99: Rs485 Communication Address Of Servo Parameters

    EN-50325-4 in Europe The JD series servo supports standard CAN (slave device), strictly follow CANopen2.0A / B protocol, any host computer which support this protocol can communicate with it. JD servo uses of a strictly defined object list, we call it the object dictionary, this object dictionary design is based on the CANopen international standards, all objects have a clear definition of the function.

  • Page 100: Hardware Introduction

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5. S:The object can be stored in Flash-ROM without lost after power failure. 10.3.1 Hardware Introduction CAN communication protocol describes a way of transmitting information between devices, The definition of layer...

  • Page 101: Software Introduction

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Baudrate Distance 1Mbit/s 800Kbit/s 500Kbit/s 100M 250Kbit/s 250M 125Kbit/s 500M 5 0 Kbit/s 600M 25Kbit/s 800M 10Kbit/s 1000M 10.3.2 Software Introduction 10.3.1.1 EDS EDS （Electronic Data Sheet） file is an identification documents or similar code of slave device,to identify what kind of slave device is(Like 401,402 and 403,or which device type of 402).This file includes all information of...
  • Page 102 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 are preset),it is mainly used to transmit data in high frequency.PDO uses brand new mode for data exchange,it needs to define the data receiving and sending area before the transmission between two devices,then the data will transmit to the receiving area of devices directly when exchanging data.It greatly...
  • Page 103 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2. The function codes of COB-ID in every level are fixed. COB-ID of 00H, 80H, 100H, 701H-77FH, 081H-0FFH are system management format. The COB-ID supported by JD servo: Send PDO（TXPDO） Send PDO of servo means servo sends out data,and these data are received by PLC.The function codes of send PDO (COB-ID) are as follows: 1、...
  • Page 104 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Format of slave response message: （0x700+NodeID）+Status: Status: The bit7 of the data is triggered bit.This bit will alternately set to 0 or 1 in the response message.It will be set to 0 at the first request of node guarding.The bit0 ~ bit6 indicate the status of node.

  • Page 105: Canopen Communication Parameters

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 For example, If you want a node in the operational status to return to the pre-operational status,then the controller needs to send following message: 0x000:0x80 0x02 10.3.3 CANopen Communication Parameters Internal...

  • Page 106: Chapter 11 Alarm And Troubleshooting

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 11 Alarm and Troubleshooting 11.1 Alarm Messages Digital flickering on the display indicates that an alarm occurs indicating that the driver is faulty. For details about faults, see Table 11-1 “Fault codes”. A code of the alarm message is represented by a hexadecimal data, and four numeric displays appear.

  • Page 107: Alarm Causes & Troubleshooting

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 11.2 Alarm Causes & Troubleshooting Alarm Alarm Information Alarm Cause Troubleshooting code FFF.F There is no motor type set in servo No motor configured Set the motor type in d4.01. /800.0 driver 000.1...

  • Page 108: Chapter 12 Appendix

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Chapter 12 Appendix Appendix 1:Example for CANopen Communication 1.Canopen communication between Kinco F1 PLC and JD servo 1.1 Wiring diagram F1 PLC CAN port JD CAN port (X4) CAN_L 2 ---------------------------------- CAN_L 2 CAN_H 7 ---------------------------------- CAN_H 7 ■Note:...
  • Page 109 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (3)Select “Resources” option and click “PLC Configuration”.
  • Page 110 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (4)Click “Extras->add configuration file” to add EDS file of JD servo. (5)There are two CAN ports in F1 PLC.Both of them can be used as master. Set baudrate and Node-ID for synchronous message,please click “activate”...
  • Page 111 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (6) Right click CAN port and select “Append Subelement->JD driver” to add slaves.Then set parameters such as Node ID,Nodeguarding,RX-PDO and TX-PDO.
  • Page 112 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (7)Configure PDO objects according to the requirement.
  • Page 113 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (8)After configure all the parameters,there will be all the registers corresponding to all the OD as shown in following figure.For example,the register for Controlword is QW4,and the register for Statusword is IW1.8.
  • Page 114 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (10)The program is as following figure.More details please refer to the chapter of operation mode.After creating communication between F1 PLC and servo,it needs to set a initial value 6 to the object “Controlwrod”,or other command can’t be effective in servo.
  • Page 115 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.CANopen Communication between JD Servo and Peak CAN. Peak company has many kinds of CAN adapter such as ISA,PCI,USB-CAN and so on.This example is to use PCAN-USB connected to JD servo.
  • Page 116 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Following is the example about sending and receiving messages for different operation mode.(The sataion No. is 1) Homing mode（The controlword should change from F to 1F) Internal Setting Name Message（ID=1） Note...

  • Page 117: Appendix 2:Example For Rs485 Communication

    610.352r ps/s Note:All the data are Hexadecimal format when using communication. Appendix 2:Example for RS485 Communication 1.Modbus Communication Between JD Servo and Kinco HMI (1) HMI control single JD servo. a．Wiring diagram b. Parameters setting It needs to choose Modbus RTU in HMI software,the communication parameters are as following figure.The...
  • Page 118 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 c. Address setting It needs to use address type 4X in HMI program(All the objects of JD servo are corresponding to 4X).According to Modbus address of objects in the Common Object List,the Modbus address of the object “Target velocity”(60FF0020) is 0x6F00,its decimal value is 28416.When we use this address in HMI,we need...
  • Page 119 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (2)HMI control multiple JD servo a、Wiring diagram...
  • Page 120 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 b. Parameter setting The parameters setting in HMI is the same as above example,the difference is to set different station no. for different servo.In the attribute of components in HMI,it needs to select the PLC No. for different servo.(The PLC No.
  • Page 121 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 (3)Program It needs to use the Modbus function (MODBUS_MSG) to send and receive data.The descriptions of Modbus function are shown in following figure. (4)Example descriptions S7200 plc Inputs Function Description I0.0...

  • Page 122: Appendix 3:Example For Rs232 Communication

    Kinco MT4000 and MT5000 series HMI can communicate with RS232 port of JD servo.Users can set internal parameters of JD servo and display the status of JD servo.Kinco HMI can communicate with single JD servo,and also can communicate with multiple JD servo via RS232.
  • Page 123 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 c. Address setting There are three address types in HMI software which are corresponding to the data length of the objects in JD servo.These address types are 08(8 bits),10(16 bits) and 20 (32 bits).The format of the address is Index.Subindex.Following figure is an example for using object 60FF0020(Target velocity)

  • Page 124: Appendix 4：Master-Slave Example

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 b. Parameters setting The parameters setting in HMI is the same as above example,the difference is to set different station no. for different servo.In the attribute of components in HMI,it needs to select the PLC No. for different servo.(The PLC No.
  • Page 125 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 1.Differential Signal Control 1.1 Hardware There is no isolation in RS422 differential signal input,so it only supports 5V input.Its anti-interference performance is high and supports up to 4MHz frequency.Its PIN definitions are as follows:...
  • Page 126 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 User setting Execute pulse amount after 25080520 0x1950 electronic gear User setting To smooth the input pulse. Filter frequency: f=1000/(2π* PD_Filter) Time constant: 25080610 0x1960 PD_Filter/1000 Unit: S Note: If you adjust this filter parameter during the operation, some pulses may be lost.
  • Page 127 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 LED Display Name Meaning Setting value Indicates numerator electronic gears in the “-4” operation d3.34 Gear_Factor Set as 2000 mode (pulse control mode) Indicates denominator electronic gears in the “-4” operation d3.35...
  • Page 128 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Common cathode connection (to controllers that support valid high level output) 2.3 Parameter setting Exclude the pulse mode,all other settings are the same as the one when using differential signal control.

  • Page 129: Appendix 5:Homing Method

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.4 Example for panel operation（It can also use JD-PC software） The settings are the same as differential signal control.。 Tips: 1：If users find the direction of encoder is different from motor,then exchange A and /A,or B and /B to change the direction.
  • Page 130 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Methods 5 and 6: Homing on the negative home switch and index pulse Using methods 5 or 6, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or the right of the point where the home switch changes state.
  • Page 131 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Methods 15 and 16: Reserved These methods are reserved for future expansion of the homing mode. Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse;...
  • Page 132 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册...
  • Page 133 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Methods 31 and 32: Reserved These methods are reserved for future expansion of the homing mode. Methods 33 and 34: Homing on the index...

  • Page 134: Appendix 6：Use Jd-Pc Software To Import And Export Driver Parameters

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Method 35: Homing on the current position In this method, the current position is taken to be the home position. Methods -17 and -18: Use the mechanical terminal as reference point Appendix 6：Use JD-PC software to import and export driver...
  • Page 135 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2.Open the window as the following picture: 3.Click the Open File, pop up a dialog box like that: 4.Select the export.cdo, click the Open, the parameters will be listed in the window, and then...
  • Page 136 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.At last, choose the Save, and input the file name, so the data in driver is uploaded. Import: It means to download the parameters into servo driver. 1.Select the Menu->Extend->Write Driver Config:...
  • Page 137 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 3.Click the Open File, then pop up a dialog window to select file. 4.Select one of the file that needed to be download to driver. For example we choose Motor-test.cdi, Click Open. The parameters and their values in this file will be shown in the...

  • Page 138: Appendix 6：Conversion Between Engineering Unit And Internal Unit Of Common Objects

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 5.Then click the Write, so the parameters are downloaded to driver. After that do not forget to click Save Parameter, then the parameters are saved in driver. Appendix 6：Conversion between engineering unit and internal unit of common objects.

  • Page 139: Appendix 8：Common Objects List

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Appendix 8：Common Objects List Based on the data communication protocols described in Chapter 10,all parameter values are transferred in hexadecimal data. In the later sections of this document, we adopt the hexadecimal system and use Index (16-bit index) and Subindex (8-bit subindex) to represent the register addressing.
  • Page 140 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 6 Homing 7. CANOPEN based motion interpolation Measurement data: Inde Subindex Bits Modbus Command Unit Descriptions Address Type 6063 0x3700 Actual position value 0x3b00 DEC=[(RPM* Actual velocity value 512*Encoder_ resolution)/18 6078...
  • Page 141 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Maximum velocity. Actual velocity in mode 4. 6080 0x4900 RW，M Maximum velocity in other mode. Multiple position,multiple speed. Index Subindex Modbus Unit Descriptions Address mand Type 2020 0x0C10 Multiple position control 0...
  • Page 142 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 ，M (if both are zero, there is no limit) Homing Index Subindex Modbus Unit Descriptions Address mand Type 6098 0x4D00 integer Homing methods 6099 0x5010 DEC=[(RPM* Velocity for searching limit switch...
  • Page 143 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Pulse input parameters: Index Subindex Modbus Unit Descriptions Address mand Type 2508 0x1910 integer Numerator of electronic gear ratio Denominator of electronic gear ratio 2508 0x1920 unsigned Pulse mode control 0...CW/CCW 1...Pulse/Direction...
  • Page 144 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 2010 0x0880 unsigned Function definition of digital input 6 2010 0x0890 unsigned Function definition of digital input 7 2010 0x09D0 unsigned Function definition of digital input 8 2010 0x08F0 unsigned Function definition of digital output 1...
  • Page 145 Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 bit4：Din5 bit5：Din6 bit6：Din7 Simulation of digital output bit0：Dout1 bit1：Dout2 bit2：Dout3 2010 0x08E0 bitcode bit3：Dout4 bit4：Dout5 bit5：Dout6 bit6：Dout7 Error code: Index Subindex Modbus Unit Descriptions Address mand Type Current error code: bit0：Internal bit 1：Encoder ABZ...

  • Page 146: Appendix 9：Selection For Brake Resistor

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Default value:1 Note:it needs to save and restart driver after change. Baudrate for CAN Setting value Baudrate 100： 50： 500k 25： 250k unsig 2F81 12： 125k 5： 1： Default value: 50 Note:it needs to save and restart driver after change.

  • Page 147: Appendix 10：Selection For Fuse

    Kinco JD Series Servo User Manual Kinco JD 伺服系列使用手册 Appendix 10：Selection for Fuse Driver Model Driver Power[W] Fuse Specification 200W 3.5A/250VAC 400W 7A/250VAC 750W 15A/250VAC JD430 1000W 20A/250VAC 1.05KW 20A/250VAC 1.25KW 25A/250VAC 1.26KW 25A/250VAC 1.26KW 15A/500VAC JD620 1.57KW 16A/500VAC 1.88KW...

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